3 accepted papers
Many manipulation tasks require task-specific grasps that may initially be unavailable, requiring the robot to transition from grasp to grasp. Current approaches to in-hand manipulation often involve complex hardware or algorithms, which limits their use in real-world tasks. In this work, we present
We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Fréchet distance. By leveraging tools from computational geometry, we approximate the search space using a cross-product graph. We use
We propose a method for generating a configuration space path that closely follows a desired task space path despite the presence of obstacles. We formalize closeness via two path metrics based on the discrete Hausdorff and Frechet distances. Armed with these metrics, we can cast our problem as a tr…